[1]张震,沈惠平,尹洪贺,等.一种新型3T1R并联机构的设计及其运动学分析[J].常州大学学报(自然科学版),2017,(05):57-67.[doi:10.3969/j.issn.2095-0411.2017.05.009]
　ZHANG Zhen,SHEN Huiping,YIN Honghe,et al.Design and Kinematics Analysis of a Novel 3T1R Parallel Mechanism[J].Journal of Changzhou University(Natural Science Edition),2017,(05):57-67.[doi:10.3969/j.issn.2095-0411.2017.05.009]
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一种新型3T1R并联机构的设计及其运动学分析()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
期数:
2017年05期
页码:
57-67
栏目:
机械制造及其自动化
出版日期:
2017-09-30

文章信息/Info

Title:
Design and Kinematics Analysis of a Novel 3T1R Parallel Mechanism
作者:
张震; 沈惠平; 尹洪贺; 许可; 李家宇; 杨廷力
常州大学 现代机构学研究中心,江苏 常州 213016
Author(s):
ZHANG Zhen;  SHEN Huiping;  YIN Honghe;  XU Ke;  LI Jiayu;  YANG Tingli
Research Center for Advanced Mechanism Theory, Changzhou University, Changzhou 213016, China
关键词:
并联机构;  方位特征;  耦合度;  运动学分析;  位置正反解
Keywords:
parallel mechanism;  POC;  coupling degree;  kinematics analysis;  forward and inverse position
分类号:
TP 241
DOI:
10.3969/j.issn.2095-0411.2017.05.009
文献标志码:
A
摘要:
基于方位特征(POC)的并联机构设计理论,提出了一种新的SCARA型并联机构,分析计算出该机构的耦合度k=1。根据基于序单开链法的机构运动学建模原理,分别给出该机构位置正反解的求解算法,并通过数值算例验证了其正确性。基于导出的机构的位置反解,分析了该并联机构的工作空间,分析结果表明:该机构具有全对称性,工作空间大的特点。研究结果为该机构的样机设计及应用奠定了理论基础。
Abstract:
Based on the position and orientation characteristic(POC)of the parallel mechanism design theory, a novel SCARA type parallel mechanism is proposed, the coupling degree of the mechanism k=1 is calculated. Then,according to the modeling principle of kinematic of the mechanism based on ordered SOC, the solution algorithm of the forward and inverse position of this parallel mechanism are derived, and an numerical example is provided to confirm the correctness of the solution procedure. Finally, based on the inverse position solutions of the mechanism, the working space of this parallel mechanism is obtained. Analysis results show that this parallel mechanism has characteristics of full symmetry and large working space. These research results provide a theoretical foundation for the prototype design and application of this mechanism.

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备注/Memo

备注/Memo:
收稿日期:2017-03-22。 基金项目:国家自然基金项目(51475050,51375062); 江苏省重点研发计划项目(BE2015043)。 作者简介:张震(1992—),男,安徽天长人,硕士生。通讯联系人:沈惠平(1965—),E-mail:shp65@126.com
更新日期/Last Update: 2017-10-20